Madonna has launched a lawsuit against bosses at the auction house who attempted to sell off "highly personal items" including a pair of used underwear.

The Material Girl hitmaker is suing bosses at Gotta Have It! Collectibles and her former friend, art consultant Darlene Lutz, over the planned online sale of her former property, including a letter sent to Madonna by her rapper ex-boyfriend Tupac Shakur while he was in jail, a hairbrush containing strands of her hair, and a pair of her unwashed panties, claiming the items were wrongfully taken from her.

"This is an action for conversion and related causes of action arising out of Defendants' wrongful taking of Plaintiff's property, valuable memorabilia and highly personal items that Plaintiff's former friend and art consultant, Darlene Lutz, and/or one or more John Doe Defendants consigned for sale at auction to GHI and/or GHRR.com-despite the fact that the memorabilia is not Defendant Lutz's or any of the John Doe Defendants' to sell," a lawsuit filed in New York on Tuesday reads.

According to the lawsuit, the items were sent to a storage unit owned by Lutz when Madonna was moving, and when they fell out in 2004, Madonna was reportedly unaware Lutz was still in possession of the items.

"Plaintiff was not personally aware that Defendant Lutz continued to maintain possession of numerous of Plaintiff's belongings, at least some of which Defendant Lutz consigned for sale, offered for sale and sold at public auction," the lawsuit continues.

Last month, Madonna was granted a temporary restraining order against the planned online sale. Gotta Have It! Collectibles bosses and Lutz attempted to appeal the ruling, but their motion was dismissed.